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EP4483783A1 - Système et procédé de détection et de compensation de tremblements - Google Patents

Système et procédé de détection et de compensation de tremblements Download PDF

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Publication number
EP4483783A1
EP4483783A1 EP23181779.2A EP23181779A EP4483783A1 EP 4483783 A1 EP4483783 A1 EP 4483783A1 EP 23181779 A EP23181779 A EP 23181779A EP 4483783 A1 EP4483783 A1 EP 4483783A1
Authority
EP
European Patent Office
Prior art keywords
tremor
motion
actuator
personal care
sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP23181779.2A
Other languages
German (de)
English (en)
Inventor
Mark Thomas Johnson
Lutz Christian GERHARDT
Wilhelmus Andreas Marinus Arnoldus Maria Van Den Dungen
Maria Estrella Mena Benito
Amir Hussein RMAILE
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Koninklijke Philips NV
Original Assignee
Koninklijke Philips NV
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Koninklijke Philips NV filed Critical Koninklijke Philips NV
Priority to EP23181779.2A priority Critical patent/EP4483783A1/fr
Priority to PCT/EP2024/067240 priority patent/WO2025002972A1/fr
Publication of EP4483783A1 publication Critical patent/EP4483783A1/fr
Withdrawn legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6887—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient mounted on external non-worn devices, e.g. non-medical devices
    • A61B5/6898—Portable consumer electronic devices, e.g. music players, telephones, tablet computers
    • A—HUMAN NECESSITIES
    • A46—BRUSHWARE
    • A46B—BRUSHES
    • A46B13/00—Brushes with driven brush bodies or carriers
    • A46B13/02—Brushes with driven brush bodies or carriers power-driven carriers
    • A—HUMAN NECESSITIES
    • A46—BRUSHWARE
    • A46B—BRUSHES
    • A46B15/00—Other brushes; Brushes with additional arrangements
    • A46B15/0002—Arrangements for enhancing monitoring or controlling the brushing process
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
    • A61B5/1101—Detecting tremor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6887—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient mounted on external non-worn devices, e.g. non-medical devices
    • A—HUMAN NECESSITIES
    • A46—BRUSHWARE
    • A46B—BRUSHES
    • A46B2200/00—Brushes characterized by their functions, uses or applications
    • A46B2200/10—For human or animal care
    • A46B2200/1066—Toothbrush for cleaning the teeth or dentures
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C17/00—Devices for cleaning, polishing, rinsing or drying teeth, teeth cavities or prostheses; Saliva removers; Dental appliances for receiving spittle
    • A61C17/16—Power-driven cleaning or polishing devices
    • A61C17/22—Power-driven cleaning or polishing devices with brushes, cushions, cups, or the like
    • A61C17/221—Control arrangements therefor

Definitions

  • This invention relates to the detection of tremors when using a hand-held device, and the compensation for such tremors.
  • Tremor is defined as a rhythmical, involuntary oscillatory movement of a body part. Tremors are the result of involuntary alternating contractions of reciprocally innervated muscles. Tremors are the most common movement disorder symptom, especially in the elderly population.
  • Tremors are likely to hamper many basic self-care activities, which require a good amount of motor coordination such as brushing, shaving, bathing etc. These activities are often referred as Activities of Daily Living (ADLs). This can lead to a major change in daily routine, absenteeism from work or even psychological issues.
  • ADLs Activities of Daily Living
  • ET Essential tremor
  • the most common method for diagnosis of tremors is analysis of a patient's history and thorough physical examination along with targeted neurological assessment.
  • the physical examination for tremor involves assessment of different characteristic of tremors such as affected body parts, position of body part, relation with body movements (at rest; during action) and frequency of tremors.
  • Such characterization helps in grouping tremors according to their pathophysiology and aetiology, which in turn is highly relevant for choosing the most promising treatment option for tremors.
  • the characteristic of different tremors and how they can be detected are discussed below.
  • the tremor is high frequency (14 to 20 Hz) and synchronous among ipsilateral and contralateral muscles.
  • the tremor is again high frequency (10 to 12 Hz), with known causes (e.g., medications, hyperthyroidism, hypoglycemia).
  • Symptoms vary in severity, depending on the subject's emotional state associated with stressful life events. Entrainment is a change in frequency of the tremor in adaptation to voluntary movements, such as a regular movement in the contralateral limb. It has not specific frequency range.
  • An accelerometer-based technique has been proposed as a proxy to measure and quantify tremors.
  • a hand-held personal care device comprising:
  • the invention provides a personal care device which has a driven actuator.
  • the driving of the actuator is able to generate an asymmetric motion such that a net force results, in a selected direction or set of directions.
  • the direction and optionally magnitude of this net force can be selected, and it is used to provide a resistance to the tremor vibrations, and thereby reduce the amount of tremor movement imparted to the device.
  • It may be the motion of the personal care element which provides the tremor compensation, or it may instead or additionally be movement of an additional component, but driven by the same actuator, that provides the compensation.
  • the motion of the personal care element generated by the actuator for example comprises a rotation about a rotation axis in combination with a rocking of the rotation axis.
  • the rocking in particular, can be controlled to provide a force in a selectable direction.
  • This type of motion is for example used in a toothbrush head, with rotation of the bristle field as well as rocking.
  • the processor is for example configured to adapt the actuator drive signal to provide asymmetry in the speed and/or distance of rocking of the rotation axis on opposite sides of a default axis.
  • reaction force acts to reduce the amount of tremor.
  • the actuator for example comprises a motor.
  • the drive signal generator may then comprise an H-bridge circuit.
  • the processor is then configured to control or drive the H-bridge circuit.
  • PWM pulses may be used, and they may be varied in pulse width, height and frequency.
  • Different drive signals may be employed to generate imbalanced forces in a desired direction, using pulse width and amplitude variation or pulse shape variation or a combination of these. The resulting accelerations and decelerations give rise to different forces for which reaction forces must be provided by the user holding the device. The forces will thereby counter the tremor motion itself.
  • the device may further comprise a tremor compensation mass, wherein the actuator is for driving the personal care element and for driving the tremor compensation mass.
  • This tremor compensation mass for example comprises a tapping plate.
  • the drive train may be modified mechanically as well as electrically driven, in order to provide the desired tremor compensation function.
  • the senor comprises a sensor for sensing an actuator drive current. Monitoring the sensor current can be used to determine the tremor frequency, phase and direction.
  • the senor comprises a motion sensor, such as an inertial measurement unit, IMU. This can track motion and orientation of the device, and tremor vibrations can be detected within the motion sensing signals.
  • a motion sensor such as an inertial measurement unit, IMU. This can track motion and orientation of the device, and tremor vibrations can be detected within the motion sensing signals.
  • the personal care function generates a vibration
  • the sensor is for detecting vibration
  • This approach is based on the recognition that when a user who suffers from tremor holds such a device, the lower frequency tremor vibrations are superposed with, or dampen, the vibrations generated by the actuator.
  • the result is that tremor vibrations can be detected using a low-cost sensor, and in particular more simply than detecting the tremor motion pattern.
  • the vibrating device amplifies the system response to the tremor on specific frequencies such as harmonics of the vibration function base frequency, due to an interaction between the function actuation and the tremor motion. These specific responses are due to the non-linearity of the system.
  • the sensor may then comprise a single axis vibration sensor.
  • Another example is an actuator current sensor.
  • the tremor vibrations are detectable as they provide a load to the actuator which is detectable in the actuator drive current.
  • the tremor vibrations induce a system response which influences the actuator current. The characteristic frequencies of those vibrations can thereby be detected from the actuator current.
  • the sensor comprises a microphone or accelerometer.
  • a microphone or accelerometer This provides a simple low-cost sensing approach.
  • the direction of the single axis sensor is known, so that vibrations are detected in that direction.
  • compensation can be provided in that direction.
  • a vibration originating from a different direction will be present in harmonic signals, and the harmonic can also be compensated to damp the original tremor motion.
  • the processing arrangement may also be used to classify a detected tremor as one of a set of different types of tremor. This provides useful information to the user or medical professionals.
  • the different tremor types for example have different frequency characteristics, but they may also have different temporal characteristics (i.e., amplitudes over time).
  • a tremor may be characterized as orthostatic, physiologic, essential tremor, Parkinsonism or cerebellar based at least in part on the dominant tremor frequency.
  • the processing arrangement may also be configured to determine a severity level of a detected tremor. This is based on a detected tremor amplitude and optionally duration information.
  • the processing arrangement is for example configured to determine a progression of a detected tremor over time.
  • the processing arrangement comprises a band pass filter arrangement for detecting the tremor vibrations. This provides a simple circuit solution.
  • the band pass filter arrangement for example comprises a first set of band pass filters within an expected frequency range of the tremors and a set of further band pass filters in a frequency range of higher harmonics of the expected frequency range of the tremors.
  • the filters of the first set select different tremor types, but the detection is improved using detection of harmonics as well.
  • the band pass filter arrangement for example further comprises a further blocking filter for blocking an operating frequency of the vibration generated by the actuator.
  • the processing arrangement comprises a neural network detect tremor vibrations.
  • the neural network is for example supplied with a spectrogram of the sensor signal for a continuous range of frequencies up to at least double the personal care function vibration frequency.
  • at least some harmonics are included in the spectrogram. This enables more accurate detection, and it may use the effect of the tremor vibration frequency and strength on the full frequency spectrum over a small period of time.
  • the device for example comprises a powered toothbrush or a shaver.
  • the invention also provides a method of compensating for tremors during use of a hand-held personal care device, which device implements a personal care function comprising driving motion of a personal care element using an actuator, wherein the method comprises:
  • the invention also provides a computer program comprising computer program code means which is adapted, when said program is run on a computer, to implement the method defined above.
  • the invention also provides a computer program comprising computer program code means which is adapted, when said program is run on a computer, to implement the method defined above.
  • the invention provides a hand-held personal care device having an actuator for implementing a personal care function, which generates a motion of a personal care element. Motion of the personal care device is sensed, and the presence and direction of tremor movements is detected. An actuator drive signal is adapted so as to provide at least partial cancellation of the tremor.
  • the invention may be applied to any personal care device which generates a motion when performing the personal care function.
  • the personal care function may be a function for promoting health or for treating a medical condition or it may be part of a personal hygiene routine.
  • Fig. 1 shows an example of an electric toothbrush 10 having a driven brush head 12 (which is an example of a "personal care element for performing a personal care function") and a handle 14, with an actuator 16 in the handle for driving the head 12.
  • the actuator in one example is a motor and the head is driven at least to rotate, and this generates a vibration which is transmitted to the device body.
  • a sensor 20 generates a sensor signal which depends on the motion (e.g., vibration or vibration pattern) of the toothbrush.
  • a processing arrangement detects tremor vibrations from the sensor signal and thereby detects tremor.
  • the detection of the tremor is used to control the drive signals applied to the actuator 16 and hence control the driven motion of the brush head 12.
  • the driven motion of the head is configured to provide damping of the tremor vibrations.
  • larger forces are applied to the user's hand (for which the user must deliver a reaction force) in a direction opposite to the direction of tremor motion that in a same direction as the tremor motion.
  • the motion of the personal care element is cyclic and has a higher cyclic frequency than the tremor vibration frequencies. As a result, the personal care element movements within multiple cycles can be modulated depending on the slower tremor vibrations.
  • the invention requires the detection of tremor, and then provides an adaptation to the actuator drive signal in order to provide compensation, i.e., partial cancellation, of the tremor motion.
  • the motion may be detected in known manner by using an inertial measurement unit, IMU.
  • IMU typically comprises a combination of a three-axis accelerometer and a three-axis gyroscope. This can measure the direction and magnitude of all motions.
  • the characteristic movement of the device in response to the actuator drive signals are typically in a much higher frequency band than the motions caused by tremor, so they can easily be distinguished.
  • the tremor motions may be extracted from the overall motion of the device, even while the device is being used to perform its personal care function (in this example, the user is using the device to brush their teeth).
  • the manual movement of a toothbrush could however be close to the tremor motion. During testing, these motions may be differentiated.
  • an output 24 may also be generated, as shown in Fig. 1 , which may indicate when tremor has arisen, or more preferably it may identify different types of tremor and monitor progression of tremor symptoms over time. These options are discussed below.
  • the sensor comprises a motor current sensor.
  • the tremor vibrations which are applied to the handle by the user, act as a load to the motor and the change in load modulates the motor current, by which is meant dampen or otherwise influence the existing vibrations of the personal care function and thereby alter the current.
  • the motor current may be interpreted to determine the presence of, and more preferably the type of, tremor of the subject holding the toothbrush 10.
  • another example is a single axis vibration sensor.
  • the single axis vibration sensor may be implemented as an accelerometer or microphone.
  • the tremor is a complex motion and the vibrating device is also a complex system.
  • the direct or indirect influence of any tremor motion direction can be detected.
  • the tremor motion itself will not be confined to a single direction.
  • motion in the direction of a single axis sensor will be most sensitive.
  • Tremors can be identified from the sensor signal in general by detecting or filtering out characteristic frequency bands from the vibration frequencies of the toothbrush present in the sensor signal.
  • An electric toothbrush for example operates with a rotation frequency around 70 to 80Hz, and a sonic toothbrush for example operates at around 260Hz, whereas the specific tremor frequencies lie in the range 3 to 20 Hz.
  • power spectral analysis using a FFT
  • spectrograms may be employed.
  • the example above is based on monitoring motor currents.
  • the motor current is sensitive in all directions it drives.
  • sensing approach uses a sensor in the form of a single axis accelerometer.
  • the head of a powered toothbrush and its handle are usually integrated with many sensors such as an inertial measurement unit, IMU, camera, pressure, pain sensors etc.
  • the IMU sensor provides an accelerometer signal during a brushing activity.
  • the high frequency accelerometer signal can then be processed, optionally without low pass filtering, to derive the single axis sensing.
  • the IMU is normally used for lower speeds to detect 3D motion and position tracking.
  • the invention uses the sensed information relating to the presence and direction of tremors to implement a compensation i.e., cancellation function.
  • the invention in particular provides modification to the drive signal applied to the actuator of the device.
  • the aim is to adapt the motion of the driven unit (e.g., toothbrush head) so that it drives the driven unit with an asymmetric motion.
  • This asymmetric motion generates an impulse in a direction opposite to the direction of a tremor movement of the user of the device.
  • This impulse is for example delivered at each drive cycle of the actuator.
  • a first approach is a software approach. Providing a firmware adaptation to the way the actuator is driven, in particular by providing electronic modification of the drive train signal, can be used to generate asymmetric motion.
  • the inverse of the tremor motion is applied to the motor.
  • the drive modification for example involves adding a temporary DC offset to a periodic bipolar drive signal to imbalance the motion.
  • This approach is particularly effective if the motion generated by the actuator has an element of non-linearity.
  • a simple circular motion of a rotationally balanced driven element will enable only limited control using compensating impulses.
  • the compensation can be implemented within a range of directions over the angle of the rotation by driving the motor in an imbalanced way over this angle range.
  • the driven element introduces directional vibrations in its normal operation, for example because there are multiple superposed movement trajectories
  • the direction and magnitude of these vibrations may be controlled by controlling the drive train signal. This makes the compensation range of directions larger.
  • a toothbrush head may be driven with a rotation about a rotation axis in combination with a rocking of the rotation axis.
  • the actuator drive signal may then be controlled to provide asymmetry in the speed and/or distance of rocking of the rotation axis on opposite sides of a default axis. In this way, a vibration component can be steered and have its magnitude controlled.
  • the rotation is typically back and forth (such as a rotation-oscillation motion or a a sonic low-amplitude angular sweeping motion).
  • the sweeping motion may for example be combined with an (out of-phase) tapping motion (e.g., up/down).
  • the compensation must be within the stroke and speed limits of the system.
  • the imbalanced inertia generated by the speed difference causes the required imbalanced forces.
  • the DC offset may be used to select the motor position at which the speed difference change is implemented. Because the tremor is a changing repeating motion over time, compensation (i.e., damping) is by moving the system in the opposite direction with the same speed and inertia.
  • a second approach is a hardware approach, by which a mechanical modification of the drive train (drive shaft) is used to generate asymmetric motion, in combination with control of the actuator drive signal. This for example involves adding a tapping plate for generating an out-of-phase, out-of-plane motion.
  • a power toothbrush motor is often controlled by a microcontroller via pulse width modulation and so-called H-bridge motor steering as shown in Fig. 2 .
  • the H-bridge comprises a set of switches 94 controlled by a PWM controller 96.
  • the controller controls the direction and speed of the motor by selectively turning the series of switches on and off.
  • Fig. 3 shows a typical pulse width modulation signal for a bidirectional control signal.
  • the control signal is balanced, evenly divided between the positive and negative values, resulting in a sinusoidal shape and hence motion.
  • the width of each pulse is proportional to the signal level of the equivalent sinusoidal analog waveform.
  • the analogue equivalent waveform is basically a low pass filtered version of the PWM signal, thus removing the frequencies of the PWM modulation.
  • the PWM controller varies the pulse width of the signal to produce the desired output signal, which may be balanced or unbalanced.
  • Figs. 4 to 6 show pulse width modulation examples.
  • Fig. 4 shows that the signal range 110 has a DC offset caused by the unequal positive and negative pulse widths.
  • Fig. 5 shows more clearly a positive offset caused by larger positive pulse widths than negative pulse widths.
  • Fig. 6 shows a positive offset based on pulse amplitude variation, in particular caused by larger amplitude positive pulses than negative pulses.
  • Fig. 7 Another option is to adapt the pulse shape as shown in Fig. 7 .
  • the shape of the pulses can be changed, for example to a sawtooth shape as shown. In this way, the rate of change of actuator signal can also be controlled.
  • a combination of different modulation techniques can be used.
  • one drive circuit for controlling motor rotation is an H-bridge circuit.
  • Fig. 8 schematically shows imbalanced drive signals being applied to the four control units 94 of an H-bridge control circuit.
  • One direction is controlled with much stronger signals (i.e., larger width and/or larger amplitude), causing the motor to move faster to one side.
  • Fig. 9 shows how such an asymmetric signal may be applied to a toothbrush.
  • the actuation signal is shown as plot 150 and the detected tremor signal is shown as plot 152.
  • the tremor motion for example has a frequency less than 20Hz whereas the brush motion is controlled at 260Hz (the vibrations are not shown to scale in Fig. 15 in that the frequency of the actuation signal is reduced to make the oscillations more clearly visible).
  • the brush motion for example comprises 15 degrees rotation about a given axis.
  • the tremor is compensated and hence dampened by temporary and anti-phase unbalancing the motion of the toothbrush.
  • the frequency of the brush motion stays constant in this example.
  • the brush motion is modulated with an anti-phase tremor motion. It is noted that in Fig. 16 the terms "positive” and “negative” are used to indicate the direction of motion.
  • the higher frequency control of the toothbrush head enables the toothbrush head control signal to track the tremor motion.
  • the control of the H-bridge circuit may be used to control a direction and magnitude of compensating vibration in the plane of the toothbrush head.
  • the tremor motion and rotation lie in the same plane (i.e., the axis of rotation is perpendicular to the general plane in which tremor motions exist). This is realistic, in that a hand tremor is typically side to side, hence in the plane of the toothbrush head when the toothbrush is held in a conventional manner.
  • This toothbrush head plane is generally defined as the x-y plane, with the x-axis parallel to the length direction of the brush head, and the y-direction across the length direction of the brush head.
  • the z-direction is normal to the face of the toothbrush head.
  • the tremor vibrations, and hence the required compensatory vibrations are generally aligned with the y-axis.
  • Fig. 10 shows a toothbrush side view and top view of the head motion.
  • One example of known motion provides a 7-degree rotation (i.e., rocking) of the head each side of the normal to the toothbrush head, in addition to a circular motion of the head.
  • This rocking is about an axis parallel to the length axis of the toothbrush head, hence side-to-side across the y-axis. This is shown by the plots 160.
  • Unbalanced motion about the y-axis is shown by plots 162 and 164 (in opposite directions).
  • the imbalance that is introduced compensates for tremor in the same x-y plane, in particular in the y-axis direction.
  • tremor compensation may also be provided in other directions.
  • a second approach is a hardware approach, by which a mechanical modification of the drive train (drive shaft) is used to generate asymmetric motion, in combination with control of the actuator drive signal.
  • a DC offset can be used to drive the configuration based on the sensed tremor signal direction.
  • the mechanical modification of the drive train shaft for example involves adding a tapping plate for generating an out-of-phase, out-of-plane motion.
  • Fig. 11 shows a tapping plate 170 coupled to a fixed sliding shaft 172 by hinged joints.
  • a shape slider 176 is attached to a sweeping shaft 174.
  • Sliders 178 must follow a profile in the shape slider 176, so that as the sweeping shaft 174 rotates, the tapping plate 170 moves up and down.
  • the frequency and phase of the movement of the tapping plate will depend on the profile of the shape slider and the rotation of the sweeping shaft.
  • control of the actuation of the sweeping shaft can be used to control the resulting forces and timings generated by the tapping plate.
  • the tapping plate acts as counter mass to further reduce tremors, when asymmetrically driven as explained above.
  • WO 2023/088721 discloses a system in which a second cleaning motion is generated with a tapping plate to optimize cleaning performance.
  • the tapping plate is in this example connected to the bristle field, whereas the tapping plate in the system of the present invention is used as a passive counter mass, generating an inertia mass counter-momentum.
  • the present system can also use the tapping element for both reducing tremors and providing a second cleaning motion.
  • a range of compensating motions can be created.
  • the motion When driving the motor with a specific pattern, the motion will peak in a specific direction and thus the compensating force will also peak in a specific direction.
  • the taping mechanism provides an additional compensation direction, and thus enables a larger area for compensation.
  • the processor is shown as part of the toothbrush.
  • the signal processing may be performed remotely, and the personal care device may transmit data to the remote processing system to perform the analysis and return the results.
  • the sensing can be achieved with a single axis approach because the tremor will be visible over a larger angle due to the complex non-linear vibrating system.
  • the direction is detectable using a single axis sensor such as an accelerometer or microphone.
  • actuator motor
  • the motor current is directly coupled to the angular motion so will capture over the whole range the tremor motion. There is thus no need to reconstruct full 3D motion of the device.
  • full tremor 3D motion is sensed, this could enable compensation in all directions, but in practice there is typically a limited set of possible compensation directions so a full 3D reconstruction is not needed.
  • the invention has been described with reference to a toothbrush, but the same concept may be applied to any hand-held device which is actuated such that it vibrates in use, and the invention involves controlling the driven vibrations to compensate for detected tremor.
  • processors may be implemented by a single processor or by multiple separate processing units which may together be considered to constitute a "processor". Such processing units may in some cases be remote from each other and communicate with each other in a wired or wireless manner (optional)

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EP23181779.2A 2023-06-27 2023-06-27 Système et procédé de détection et de compensation de tremblements Withdrawn EP4483783A1 (fr)

Priority Applications (2)

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EP23181779.2A EP4483783A1 (fr) 2023-06-27 2023-06-27 Système et procédé de détection et de compensation de tremblements
PCT/EP2024/067240 WO2025002972A1 (fr) 2023-06-27 2024-06-20 Système et procédé de détection et de compensation de tremblements

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WO2016133621A1 (fr) * 2015-02-20 2016-08-25 Verily Life Sciences Llc Mesure et collecte de tremblements chez l'homme par l'intermediaire d'un outil portatif
CN106344105A (zh) * 2015-07-16 2017-01-25 Snu精度株式会社 手术用披锋刀的控制方法及控制装置
WO2020205557A1 (fr) * 2019-03-29 2020-10-08 Icaninnotech Co., Ltd. Outil antitremblement, son dispositif antitremblement, et dispositif auxiliaire de maintien
US20220233119A1 (en) * 2021-01-22 2022-07-28 Ethicon Llc Method of adjusting a surgical parameter based on biomarker measurements
WO2023088721A1 (fr) 2021-11-20 2023-05-25 Koninklijke Philips N.V. Synchronisation et désynchronisation de mouvements de balayage et de prise d'énergie

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